cmake_minimum_required(VERSION 3.0.2)
project(orb_slam3)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  cv_bridge
  image_transport
  sensor_msgs
  tf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV REQUIRED) 
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES orb_slam3
   #CATKIN_DEPENDS roscpp cv_bridge image_transport sensor_msgs tf
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  ${PROJECT_SOURCE_DIR}
  /home/huws/slam/ORB_SLAM3/
  /home/huws/slam/ORB_SLAM3/include
  /home/huws/slam/ORB_SLAM3/include/CameraModels
#  ${OpenCV_INCLUDE_DIRS}
  ${Pangolin_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/orb_slam3.cpp
# )

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
/home/huws/slam/ORB_SLAM3/Thirdparty/DBoW2/lib/libDBoW2.so
/home/huws/slam/ORB_SLAM3/Thirdparty/g2o/lib/libg2o.so
/home/huws/slam/ORB_SLAM3/lib/libORB_SLAM3.so
-lboost_system
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(ros_mono src/ros_mono.cc)
add_executable(ros_mono_inertial src/ros_mono_inertial.cc)
add_executable(ros_rgbd src/ros_rgbd.cc)
add_executable(ros_stereo src/ros_stereo.cc)
add_executable(ros_stereo_inertial src/ros_stereo_inertial.cc)


## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against

target_link_libraries(ros_mono
  ${LIBS}
  ${catkin_LIBRARIES}
)

target_link_libraries(ros_mono_inertial
  ${LIBS}
  ${catkin_LIBRARIES}
)

target_link_libraries(ros_rgbd
  ${LIBS}
  ${catkin_LIBRARIES}
)

target_link_libraries(ros_stereo
  ${LIBS}
  ${catkin_LIBRARIES}
)

target_link_libraries(ros_stereo_inertial
  ${LIBS}
  ${catkin_LIBRARIES}
)


# catkin_add_nosetests(test)
